ROMAN20_0084_MS.pdf (1.63 MB)
Adaptive impedance control with trajectory adaptation for minimizing interaction force
conference contribution
posted on 2023-06-09, 21:20 authored by Jing Luo, Chenguang Yang, Etienne Burdet, Yanan LiYanan LiIn human-robot collaborative transportation and sawing tasks, the human operator physically interacts with the robot and directs the robot’s movement by applying an interaction force. The robot needs to update its control strategy to adapt to the interaction with the human and to minimize the interaction force. To this end, we propose an integrated algorithm of robot’s trajectory adaptation and adaptive impedance control to minimize the interaction force in physical humanrobot interaction (pHRI) and to guarantee the performance of the collaboration tasks. We firstly utilize the information of the interaction force to regulate the robot’s reference trajectory. Then, an adaptive impedance controller is developed to ensure automatic adaptation of the robot’s impedance parameters. While one can reduce the interaction force by using either trajectory adaptation or adaptive impedance control, we investigate the task performance when combining both. Experimental results on a planar robotic platform verify the effectiveness of the proposed method.
History
Publication status
- Published
File Version
- Accepted version
Journal
2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)ISSN
1944-9445Publisher
IEEEExternal DOI
Event name
The 29th IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020)Event location
VirtualEvent type
conferenceEvent date
31 Aug - 04 Sept, 2020ISBN
9781728160764Department affiliated with
- Engineering and Design Publications
Notes
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-07-01First Open Access (FOA) Date
2020-10-20First Compliant Deposit (FCD) Date
2020-07-01Usage metrics
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